EP3779497B1 - Dispositif d'estimation de position, système d'estimation de position, procédé d'estimation de position et programme - Google Patents

Dispositif d'estimation de position, système d'estimation de position, procédé d'estimation de position et programme Download PDF

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Publication number
EP3779497B1
EP3779497B1 EP19777121.5A EP19777121A EP3779497B1 EP 3779497 B1 EP3779497 B1 EP 3779497B1 EP 19777121 A EP19777121 A EP 19777121A EP 3779497 B1 EP3779497 B1 EP 3779497B1
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EP
European Patent Office
Prior art keywords
position data
positioning devices
density
transmitter
calculating unit
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EP19777121.5A
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German (de)
English (en)
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EP3779497A4 (fr
EP3779497A1 (fr
Inventor
Keigo Wakana
Yukimitsu Yamada
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Alps Alpine Co Ltd
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Alps Alpine Co Ltd
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Publication of EP3779497A4 publication Critical patent/EP3779497A4/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0221—Receivers
    • G01S5/02213—Receivers arranged in a network for determining the position of a transmitter
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications

Definitions

  • the present invention relates to a position estimating device, a position estimating system, a position estimating method, and a program.
  • a transmitter e.g., a radio tag
  • a position of a transmitter i.e., the object to be positioned
  • Patent Document 1 describes a technique that receives tag information including an incoming direction of a radio wave, which is received from a radio tag, from multiple positioning devices through a network, and that calculates position data of the radio tag for each received tag information based on the incoming direction included in the tag information and the position of the positioning device.
  • Patent Document 2 describes a method and an apparatus for determining an error factor that comprises a distance calculator, a distance difference calculator, and an error factor determiner.
  • the distance calculator produces the estimated location value of a mobile station based on a signal arrival time difference between the MS and adjacent transmitters recognized by the MS and calculates an estimated transmitter distance value, a distance to each of the adjacent transmitters based on the estimated location value.
  • the distance difference calculator produces an estimated transmitter distance difference value, a distance difference between the adjacent transmitters based on the estimated location value and the estimated transmitter distance value.
  • the error factor determiner recognizes a transmitter having an error factor based on a difference value between a confirmed transmitter distance difference value and the estimated transmitter distance difference value between the MS and the adjacent transmitters.
  • Patent Document 3 discloses a position estimating system for estimating a position of a mobile station based on predetermined signals obtained by one-way or two-way communication between a first base station to a fourth base station and the mobile station includes: a distance measuring part for measuring, as a first distance, a distance between each of the plurality of the base stations and the mobile station for each base station based on the obtained predetermined signals; an error estimating part for estimating a bias amount indicating an error amount contained in the first distance between one of the base stations and the mobile station measured by the distance measuring part this time by using a bias amount estimated to be contained in the first distance between the other plurality of the base stations among the plurality of the base stations and the mobile station at the previous time or prior to the previous time; and a position estimating part for estimating the position of the mobile station by using the first distance and the bias amount estimated this time.
  • Patent Document 4 discloses a position detection system capable of measuring, the position of a slave device and the distances between the slave device and master devices, even if high-frequency signals are used, this position detection system 100 is provided with a plurality of master devices 110-140 which surround a measurement area 101, and a slave device 180 positioned in the measurement area 101, and uses high-frequency signals to measure the position of the slave device 180.
  • positioning results of multiple positioning devices may vary due to noise superimposed on radio waves or deterioration of radio wave reception conditions, for example. In such a case, it is not possible to estimate the position of the object to be positioned with high accuracy.
  • the position of the object to be positioned can be estimated with high accuracy even when positioning results obtained by multiple positioning devices vary.
  • a position estimating device includes a position data obtaining unit configured to obtain a plurality of position data of a transmitter, the plurality of position data being output from respective positioning devices, a density calculating unit configured to calculate a density of the plurality of position data based on the plurality of position data of the respective positioning devices obtained by the position data obtaining unit, and a position estimating unit configured to estimate a position of the transmitter based on the plurality of position data of the respective positioning devices and the density calculated by the density calculating unit, wherein the position estimating unit estimates the position the position of the transmitter based on the plurality of the position data output from the respective positioning devices, when the density calculated by the density calculating unit is above a predetermined first threshold; and a reliability calculating unit configured to calculate a degree of reliability of each of the plurality of position data output from the respective positioning devices, wherein the position estimating unit is configured to estimate the position of the transmitter based on the plurality of position data output from the respective positioning devices and the degree of reliability calculated by the reliability calculating unit when the density calculated by
  • the position of the object to be positioned can be estimated with high accuracy even when positioning results of multiple positioning devices vary.
  • FIG. 1 is a drawing illustrating a system configuration of a position estimating system 10 according to the embodiment.
  • the position estimating system 10 illustrated in FIG. 1 is a system that can estimate a position of a transmitter 14 in a detection area 12.
  • the position estimating system 10 can form trajectory data indicating a movement trajectory of the transmitter 14 by continuously estimating the position of the transmitter 14.
  • the position estimating system 10 includes the transmitter 14, multiple positioning devices 16 (positioning devices 16a to 16d), and a position estimating device 100.
  • the transmitter 14 is a device attached to an object to be positioned (e.g., a person, a robot, and a product) in the detection area 12.
  • the transmitter 14 includes a transmitting antenna or the like, and can continuously transmit radio waves of a predetermined frequency toward a surrounding area of the transmitter 14 at predetermined intervals (e.g., 100-millisecond interval).
  • a radio tag may be used as the transmitter 14, for example.
  • the multiple positioning devices 16 are fixed and installed in the detection area 12.
  • Each of the multiple positioning devices 16 includes a receiving antenna or the like, and can receive radio waves of the predetermined frequency transmitted from the transmitter 14.
  • Each of the multiple positioning devices 16 can position a position of the transmitter 14 in the detection area 12 based on a result of receiving the radio waves of the predetermined frequency from the transmitter 14 (e.g., receiving direction and receiving intensity). Further, each of the multiple positioning devices 16 can output position data indicating the located position of the transmitter 14 (i.e., coordinate values). For example, each of the multiple positioning devices 16 continuously receives a radio wave continuously transmitted from the transmitter 14.
  • each of the multiple positioning devices 16 Every time each of the multiple positioning devices 16 receives the radio wave transmitted from the transmitter 14, each of the multiple positioning devices 16 outputs position data of the transmitter 14 based on a result of receiving the radio wave. This enables each of the multiple positioning devices 16 to continuously output the position data of the transmitter 14.
  • the position estimating device 100 is communicatively connected to each of the multiple positioning devices 16.
  • the position estimating device 100 obtains the position data output from each of the multiple positioning devices 16 and can estimate the position of the transmitter 14 based on the multiple position data. For example, the position estimating device 100 continuously obtains the position data continuously output from the multiple positioning devices 16. Every time the position estimating device 100 obtains the position data output from the multiple positioning devices 16, the position estimating device 100 estimates the position of the transmitter 14 based on the position data. This enables the position estimating device 100 to form trajectory data indicating a movement trajectory of the transmitter 14 by continuously estimating the position of the transmitter 14 and storing the estimated position of the transmitter 14.
  • Various information processing devices e.g., a personal computer and a server may be used as the position estimating device 100.
  • FIG. 2 is a diagram illustrating a functional configuration of the position estimating device 100 according to the embodiment.
  • the position estimating device 100 includes a position data obtaining unit 201, a density calculating unit 202, a reliability calculating unit 203, a position estimating unit 204, and a storage unit 205.
  • the position data obtaining unit 201 obtains the position data of the transmitter 14 that is output from each of the multiple positioning devices 16.
  • the density calculating unit 202 calculates the density of the multiple position data based on the multiple position data output from the respective positioning devices 16 obtained by the position data obtaining unit 201.
  • the "density" is a value indicating how close the multiple position data is.
  • the density calculating unit 202 calculates a distance between two position data and calculates the sum of the distances calculated for respective combinations.
  • the density calculating unit 202 calculates a higher density value as the calculated sum of distances decreases.
  • the density calculating unit 202 obtains the number of position data included in a predetermined distance range among the multiple position data output from the respective positioning devices 16.
  • the density calculating unit 202 calculates a higher density value as the number of position data included in the predetermined distance range increases. The details of a method of calculating the density by the density calculating unit 202 will be described later with reference to FIG. 4 .
  • the reliability calculating unit 203 calculates the degree of reliability of each of the multiple position data output from the respective positioning devices 16 obtained by the position data obtaining unit 201.
  • the "degree of reliability" is a value indicating the degree of reliability of each of the multiple position data.
  • the reliability calculating unit 203 calculates a higher degree of reliability of the position data as a distance from a measurement position of the position data (i.e., a position of the positioning device 16 that measures the position data) to a position indicated by the position data (i.e., a located position of the transmitter 14) decreases.
  • the reliability calculating unit 203 calculates a higher degree of reliability of the position data as the variation of the measurement accuracy of the positioning device 16 that measured the position data decreases.
  • the reliability calculating unit 203 calculates a higher degree of reliability of the position data as a received signal strength indicator (RSSI) value obtained when the position data is measured increases.
  • RSSI received signal strength indicator
  • the reliability calculating unit 203 calculates a higher degree of reliability of the position data as a distance difference between the position indicated by the position data (i.e., the position of the transmitter 14) and a position indicated by the position data previously measured by the positioning device 16 that has measured the position data (i.e., the previous position of the transmitter 14) decreases.
  • the method of calculating the degree of reliability at the reliability calculating unit 203 will be described later with reference to FIG. 5 .
  • the position estimating unit 204 estimates the position of the transmitter 14 based on the multiple position data output from the respective positioning devices 16 obtained by the position data obtaining unit 201, the density calculated by the density calculation unit 202, and the degree of reliability calculated by the reliability calculation unit 203.
  • the position estimating unit 204 estimates the position of the transmitter 14 based on the multiple position data output from the respective positioning devices 16. Specifically, when the density calculated by the density calculating unit 202 is above the first threshold value, the position estimating unit 204 calculates an average value of the multiple position data (i.e., coordinate values) of the multiple positioning devices 16 and estimates that a position indicated by the average value is the position of the transmitter 14.
  • the storage unit 205 stores the position (i.e., the coordinate values) of the transmitter 14 estimated by the position estimating unit 204.
  • the storage unit 205 stores the position (i.e., the coordinate values) of the transmitter 14 estimated by the position estimating unit 204 in association with positioning time of the transmitter 14. This enables the storage unit 205 to form the trajectory data indicating a trajectory of the transmitter 14 in a time series.
  • the position estimating unit 204 estimates the position of the transmitter 14 based on the multiple position data output from the respective positioning devices 16 and the degree of reliability calculated by the reliability calculating unit 203. Specifically, when the density calculated by the density calculating unit 202 is below the first threshold value, the position estimating unit 204 selects one or more position data of which the degree of reliability calculated by the reliability calculating unit 203 is above a second predetermined threshold value from among the multiple position data output from the respective positioning devices 16, and estimates the position of the transmitter 14 based on the selected one or more position data.
  • the position estimating unit 204 estimates that a position indicated by the position data (i.e., the coordinate values) is the position of the transmitter 14. For example, when multiple position data is selected as the position data of which the degree of reliability is above the second threshold, the position estimating unit 204 calculates an average value of the multiple position data (i.e., the coordinate values) and estimates that a position indicated by the average value is the position of the transmitter 14.
  • Each function of the position estimating device 100 described above is achieved by, for example, a central processing unit (CPU) (i.e., an example of a "computer") executing a program stored in a memory (e.g., a read only memory (ROM) or a random access memory (RAM)) in the position estimating device 100.
  • the program executed by the CPU may be provided in a state of being installed in the position estimating device 100 in advance, or may be provided from an external device and installed in the position estimating device 100. In the latter case, the program may be provided by an external storage medium (e.g., a USB memory, a memory card, and a CD-ROM) or may be provided by downloading from a server on a network (e.g., the Internet).
  • a central processing unit i.e., an example of a "computer”
  • a program stored in a memory e.g., a read only memory (ROM) or a random access memory (RAM)
  • the program executed by the CPU may be
  • a part or entire of the above-described position estimating device 100 may be provided in a device other than the position estimating device 100.
  • a part or entire of the position estimating device 100 described above may be provided in the positioning device 16.
  • FIG. 3 is a flowchart illustrating a procedure of a process performed by the position estimating device 100 according to the embodiment. Here, a process performed for one reception of the position data output from each of the multiple positioning devices 16 in the position estimating device 100 will be described.
  • step S301 the position data obtaining unit 201 obtains the position data of the transmitter 14 output from each of the multiple positioning devices 16.
  • the density calculating unit 202 calculates the density of the multiple position data based on the multiple position data output from the respective positioning devices 16 obtained in step S301.
  • step S303 the position estimating unit 204 determines whether the density calculated in step S302 is higher than a predetermined threshold value th1.
  • step S303 when the position estimating unit 204 has determined that the density calculated in step S302 is higher than the predetermined threshold value th1 (i.e., YES in step S303), in step S307, the position estimating unit 204 calculates an average value of the multiple position data (i.e., the coordinate values) of the multiple positioning devices 16 obtained in step S301. In step S308, the position estimating unit 204 estimates that a position indicated by the average value is the position of the transmitter 14. In step S309, the storage unit 205 stores the position of the transmitter 14 estimated in step S308, and the position estimating device 100 ends a series of processing illustrated in FIG. 3 .
  • the multiple position data i.e., the coordinate values
  • step S303 when the position estimating unit 204 has determined that the density calculated in step S302 is not higher than the predetermined threshold value th1 (i.e., NO in step S303), in step S304, the reliability calculating unit 203 calculates the degree of reliability for each of the multiple position data output from the respective positioning devices 16 obtained in step S301. In step S305, the position estimating unit 204 selects position data of which the degree of reliability calculated in step S304 is above a predetermined second threshold value th2 among the multiple position data output from the respective positioning devices 16 obtained in step S301.
  • step S306 the position estimating unit 204 estimates the position of the transmitter 14 based on one or more position data selected in step S305. For example, when one position data is selected in step S305, the position estimating unit 204 estimates that a position indicated by the position data is the position of the transmitter 14. For example, when multiple position data is selected in step S305, the position estimating unit 204 calculates an average value of the multiple position data and estimates that a position indicated by the average value is the position of the transmitter 14. In step S309, the storage unit 205 stores the position of the transmitter 14 estimated in step S306, and the position estimating device 100 ends a series of processing illustrated in FIG. 3 .
  • the position estimating device 100 performs a series of processing illustrated in FIG. 3 every time the position data is output from the respective positioning devices 16. This enables the position estimating device 100 to continuously estimate the position of the transmitter 14. That is, this enables the position estimating device 100 to form trajectory data indicating a movement trajectory of the transmitter 14 in the detection area 12.
  • FIG. 4 is a drawing for describing a method of calculating the density at the density calculating unit 202 according to the embodiment.
  • FIG. 4 is a drawing illustrating the calculation items of the density at the density calculating unit 202.
  • the density calculating unit 202 calculates "the sum of distances between coordinates" and "the number of close points" as the calculation items of the density.
  • the density calculating unit 202 calculates a distance between the two position data, and calculates the sum of the distances calculated for respective combinations.
  • the density calculating unit 202 assigns the calculated sum of the distances as a score p1 (0 to 100). At this time, the density calculating unit 202 calculates a higher score p1 as the sum of distances decreases.
  • the density calculating unit 202 calculates a value obtained by multiplying the score p1 by a predetermined weight value ⁇ 1 as the "sum of distances between coordinates".
  • the density calculating unit 202 calculates an average value D 1 of the sum of distances between a first position data (i.e., position data output from the positioning device 16a) and respective position data other than the first position data by using the following equation (1) where d 12 is a distance between the first position data and a second position data (i.e., position data output from the positioning device 16b), d 13 is a distance between the first position data and a third position data (i.e., position data output from the positioning device 16c), and d 14 is a distance between the first position data and a fourth position data (i.e., position data output from the positioning device 16d).
  • D 1 d 12 + d 13 + d 14 / 3
  • the density calculating unit 202 calculates an average value D 2 of the sum of the distances between the second position data and respective position data other than the second position data by using the following equation (2) where d 21 is a distance between the second position data and the first position data, d 23 is a distance between the second position data and the third position data, and d 24 is a distance between the second position data and the fourth position data.
  • D 2 d 21 + d 23 + d 24 / 3
  • the density calculating unit 202 calculates an average value D 3 of the sum of the distances between the third position data and respective position data other than the third position data by using the following equation (3) where d 31 is a distance between the third position data and the first position data, d 32 is a distance between the third position data and the second position data, and d 34 is a distance between the third position data and the fourth position data.
  • D 3 d 31 + d 32 + d 34 / 3
  • the density calculating unit 202 calculates the score p1 by using the following equation (5) where D is an average value of D 1 , D 2 , D 3 , and D 4 calculated above (i.e., (D 1 + D 2 + D 3 + D 4 ) / 4) .
  • the density calculating unit 202 obtains the number of position data included in the predetermined distance range among the multiple position data output from the respective positioning devices 16.
  • the density calculating unit 202 assigns the obtained number of position data included within the determined predetermined distance range as a score p2 (0 to 100).
  • the density calculating unit 202 calculates a higher score p2 as the number of the position data included in the predetermined distance range increases.
  • the density calculating unit 202 calculates a value obtained by multiplying the score p2 by a predetermined weight value ⁇ 2 as the "number of close points".
  • the density calculating unit 202 calculates a density S by using the following equation (7) based on the "sum of distances between coordinates" and the "number of close points" as calculated above.
  • S p1 ⁇ ⁇ 1 + p2 ⁇ ⁇ 2
  • Appropriate values are set as the "predetermined weight value ⁇ 1", the "predetermined weight value ⁇ 2,” and the “predetermined distance range” described above in advance and are stored in the memory of the position estimating device 100 so as to be able to appropriately determine whether multiple position data are close.
  • FIG. 5 is a drawing for describing a method of calculating the degree of reliability at a reliability calculating unit 203 according to the embodiment.
  • FIG. 5 is a drawing illustrating calculation items of the degree of reliability at the reliability calculating unit 203.
  • the reliability calculating unit 203 calculates a "measurement distance,” a “variation of measurement accuracy,” a “RSSI value,” and a “distance difference from a previous coordinate" as the calculation items of the density.
  • the reliability calculating unit 203 assigns a distance from the measurement position of the position data (i.e., the position of the positioning device 16 that has measured the position data) to the position indicated by the position data (i.e., the position of the transmitter 14) as a score p3 (0 to 100). At this time, the reliability calculating unit 203 calculates a higher score p3 as the distance decreases. The reliability calculating unit 203 calculates a value obtained by multiplying the score p3 by a predetermined weight value ⁇ 3 as a "measurement distance". The position of the positioning device 16 can be obtained with the position data output from each positioning device 16, for example.
  • the reliability calculating unit 203 calculates the variation of the measurement accuracy of the positioning device 16 that has measured the position data. For example, the reliability calculating unit 203 can calculate the variation of the measurement accuracy of each positioning device 16 based on multiple position data positioned by the positioning device 16 in the past. Thus, the reliability calculating unit 203 needs to store multiple position data positioned by the multiple positioning devices 16 in the past in the memory of the position estimating device 100, for example.
  • the reliability calculating unit 203 assigns the calculated variation of the measurement accuracy as a score p4 (0 to 100). At this time, the reliability calculating unit 203 calculates a higher score p4 as the variation decreases.
  • the reliability calculating unit 203 calculates a value obtained by multiplying the score p4 by a predetermined weight value ⁇ 4 as a "variation of the measurement accuracy".
  • the reliability calculating unit 203 assigns an RSSI value obtained when the position data has been measured as a score p5 (0 to 100). At this time, the reliability calculating unit 203 calculates a higher score p5 as the RSSI value increases. The reliability calculating unit 203 calculates a value obtained by multiplying the score p5 by a predetermined weight value ⁇ 5 as an "RSSI value". The RSSI value can be obtained with the position data output from each positioning device 16, for example.
  • the reliability calculating unit 203 assigns a distance difference between the position indicated by the position data (i.e., the position of the transmitter 14) and the position indicated by the previous position data of the positioning device 16 that has measured the position data (i.e., the previous position of the transmitter 14) as a score p6 (0 to 100). At this time, the reliability calculating unit 203 calculates a higher score p6 as the distance difference decreases. The reliability calculating unit 203 calculates a value obtained by multiplying the score p6 by a predetermined weight value ⁇ 6 as a "distance difference from a previous coordinate".
  • the reliability calculating unit 203 calculates the degree of reliability Q by using the following equation (8) based on the "measurement distance”, the “variation of the measurement accuracy”, the “RSSI value”, and the "distance difference from the previous coordinate" calculated above.
  • Q p3 ⁇ ⁇ 4 + p4 ⁇ ⁇ 4 + p5 ⁇ ⁇ 5 + p6 ⁇ ⁇ 6
  • Appropriate value are set as the "predetermined weight value ⁇ 3", the "predetermined weight value ⁇ 4", the “predetermined weight value ⁇ 5", and the “predetermined weight value ⁇ 6" described above in advance and are stored in advance in the memory of the position estimating device 100 so as to be able to appropriately determine whether each of the multiple position data is reliable.
  • FIG. 6 is a drawing illustrating a movement route 18 of an object to be positioned 20 used in the example of the position estimating system according to the embodiment.
  • multiple positioning devices 16 i.e., positioning devices 16a to 16d
  • the movement route 18 has been set in the detection area 12A, and the object to be positioned 20 (i.e., a person) has been moved along the movement route 18.
  • each of the multiple positioning devices 16 receives the radio wave from the transmitter 14 (i.e., the radio tag) attached to the object to be positioned 20 and positions the position of the transmitter 14 based on a result of receiving the radio wave.
  • FIG. 7 is a drawing illustrating the position of the transmitter 14 positioned by multiple positioning devices 16 in the example of the position estimating system according to the embodiment.
  • FIG. 7 plots the positions of the transmitter 14 positioned by the multiple positioning devices 16 on the detection area 12A when the object to be positioned 20 has moved along the movement route 18.
  • the positions of the transmitter 14 positioned by the multiple positioning devices 16 include many positions that are not on the movement route 18. That is, there is a variation.
  • the variation may be caused because noise has superimposed on the radio waves transmitted from the transmitter 14, or a status of receiving the radio waves transmitted from the transmitter 14 has deteriorated, for example.
  • FIG. 8 is a drawing illustrating the position of the transmitter 14 estimated by the position estimating device 100 in the example of the position estimating system 10 according to the embodiment.
  • FIG. 8 plots the positions of the transmitter 14, which have been estimated by the position estimating device 100 based on the position data of the transmitter 14 used in FIG. 7 , on the detection area 12A.
  • the position estimating device 100 employs a configuration in which the position of the transmitter 14 is estimated based on multiple position data output from the respective positioning devices 16, the density calculated by the density calculating unit 202, and the degree of reliability calculated by the reliability calculating unit 203.
  • the position estimating device 100 can estimate the position of the transmitter 14 by using relatively highly accurate position data (i.e., high-density position data and high-reliability position data) Therefore, according to the position estimating device 100, even when a variation is generated in the positions of the transmitter 14 positioned by the multiple positioning devices 16, the position of the object to be positioned 20 can be estimated with high accuracy.
  • a validity determining unit may be further provided to determine the multiple position data output from the respective positioning devices 16 as valid data when the density calculated by the density calculating unit 202 is above the first threshold value th1, and determine the multiple position data output from the respective positioning devices 16 as invalid data when the density calculated by the density calculating unit 202 is below the first threshold value thl.
  • the position estimating unit 204 preferably estimates the position of the transmitter 14 based on the multiple position data.
  • the position estimating unit 204 may discard the multiple position data.
  • the position data is obtained from four positioning devices 16 disposed in the detection area 12.
  • the embodiment is not limited to this.
  • the position data may be obtained from three, five, or more positioning devices 16 disposed in the detection area 12.
  • the position of transmitter 14 is estimated based on the density and the degree of reliability.
  • the embodiment is not limited to this.
  • the position of transmitter 14 may be estimated based on either the density or the degree of reliability.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Claims (12)

  1. Dispositif d'estimation de position (100) comprenant :
    une unité d'obtention de données de position (201) configurée pour obtenir une pluralité de données de position d'un émetteur (14), la pluralité de données de position étant fournie en sortie de dispositifs de positionnement (16) respectifs ;
    une unité de calcul de densité (202) configurée pour calculer une densité de la pluralité de données de position sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, obtenue par l'unité d'obtention de données de position (201) ;
    une unité d'estimation de position (204) configurée pour estimer une position de l'émetteur (14) sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs et de la densité calculée par l'unité de calcul de densité (202),
    dans lequel l'unité d'estimation de position (204) estime la position de l'émetteur (14) sur la base de la pluralité des données de position fournie en sortie des dispositifs de positionnement (16) respectifs, lorsque la densité calculée par l'unité de calcul de densité (202) est supérieure à un premier seuil prédéterminé (th1) ;
    caractérisé en ce que
    une unité de calcul de fiabilité (203) est configurée pour calculer un degré de fiabilité de chaque donnée de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs,
    dans lequel l'unité d'estimation de position (204) est configurée pour estimer la position de l'émetteur (14) sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs et du degré de fiabilité calculé par l'unité de calcul de fiabilité (203) lorsque la densité calculée par l'unité de calcul de densité (202) est inférieure au premier seuil prédéterminé (th1).
  2. Dispositif d'estimation de position (100) selon la revendication 1, dans lequel l'unité d'estimation de position (204) est configurée pour estimer qu'une position indiquée par une valeur moyenne de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs est la position de l'émetteur (14) lorsque la densité calculée par l'unité de calcul de densité (202) est supérieure au premier seuil prédéterminé (th1).
  3. Dispositif d'estimation de position (100) selon la revendication 1 ou 2, dans lequel pour chaque combinaison de deux données de position parmi la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, l'unité de calcul de densité (202) est configurée pour calculer une distance entre les deux données de position, et pour calculer une somme de distance calculée pour des combinaisons respectives et pour calculer une valeur plus élevée de "somme de distances entre coordonnées" lorsqu'une somme de la distance calculée pour chaque combinaison diminue.
  4. Dispositif d'estimation de position (100) selon l'une quelconque des revendications 1 à 3, dans lequel l'unité de calcul de densité (202) est configurée pour sélectionner des données de position comprises sur une plage de distances prédéterminée parmi la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, et pour calculer une valeur plus élevée de "nombre de points proches" lorsqu'un nombre de données de position compris sur la plage de distances prédéterminée augmente.
  5. Dispositif d'estimation de position (100) selon la revendication 1, dans lequel l'unité d'estimation de position (204) est configurée pour estimer la position de l'émetteur (14) sur la base de données de position dont le degré de fiabilité calculé par l'unité de calcul de fiabilité (203) est supérieur à un second seuil prédéterminé (th2) parmi la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, lorsque la densité calculée par l'unité de calcul de densité (202) est inférieure au premier seuil prédéterminé (th1).
  6. Dispositif d'estimation de position (100) selon la revendication 1 à 5, dans lequel pour chaque donnée de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, l'unité de calcul de fiabilité (203) est configurée pour calculer une valeur plus élevée de "distance de mesure" lorsqu'une distance par rapport à une position de mesure des données de position fournies jusqu'à une position indiquée par les données de position fournies diminue.
  7. Dispositif d'estimation de position (100) selon l'une quelconque des revendications 1 à 6, dans lequel pour chaque donnée de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, l'unité de calcul de fiabilité (203) est configurée pour calculer une variation de données de précision de mesure de chaque dispositif de positionnement (16) sur la base de multiples données de position positionnées par le dispositif de positionnement (16) dans le passé, et pour calculer une valeur plus élevée de "variation de la précision de mesure" lorsqu'une variation de précision de mesure d'un dispositif de positionnement (16) qui a mesuré les données de position spécifiées diminue.
  8. Dispositif d'estimation de position (100) selon l'une quelconque des revendications 1 à 7, dans lequel pour chaque donnée de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, l'unité de calcul de fiabilité (203) est configurée pour calculer une valeur plus élevée de "valeur RSSI" d'une donnée de position fournie lorsque la valeur d'indicateur de force de signal reçu obtenue lorsque les données de position spécifiées sont mesurées, augmente.
  9. Dispositif d'estimation de position (100) selon l'une quelconque des revendications 1 à 8, dans lequel pour chaque donnée de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, l'unité de calcul de fiabilité (203) est configurée pour calculer une valeur plus élevée de "différence de distance par rapport à une coordonnées précédente" d'une donnée de position fournie lorsqu'une différence de distance entre une position indiquée par la donnée de précision fournie et une position indiquée par des données de position précédemment obtenues par un dispositif de positionnement (16) qui a mesuré les données de position spécifiées, diminue.
  10. Système d'estimation de position (10) comprenant :
    un émetteur (14) ;
    une pluralité de dispositifs de positionnement (16) ; et
    le dispositif d'estimation de position (100) selon l'une quelconque des revendications 1 à 9.
  11. Procédé d'estimation de position étant mis en œuvre par un dispositif d'estimation de position (100) selon la revendication 1, le procédé d'estimation de position comprenant de :
    obtenir une pluralité de données de position d'un émetteur (14), la pluralité de données de position étant générée à partir de dispositifs de positionnement (16) respectifs ;
    calculer une densité de la pluralité de données de position sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, obtenue par l'obtention ;
    estimer une position de l'émetteur (14) sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs et de la densité calculée par le calcul, dans lequel l'estimation de la position de l'émetteur sur la base de la pluralité des données de position fournie en sortie des dispositifs de positionnement (16) respectifs, lorsque la densité calculée par le calcul est supérieure à un premier seuil prédéterminé (th1), et
    calculer un degré de fiabilité de chaque donnée de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, dans lequel l'estimation de la position de la position de l'émetteur (14) sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs et du calcul du degré de fiabilité est réalisée lorsque la densité calculée par le calcul est inférieure au premier seuil prédéterminé (th1).
  12. Programme pour amener un ordinateur à fonctionner comme :
    une unité d'obtention de données de position (201) configurée pour obtenir une pluralité de données de position d'un émetteur (14), la pluralité de données de position étant générée à partir de dispositifs de positionnement (16) respectifs ;
    une unité de calcul de densité (202) configurée pour calculer une densité de la pluralité de données de position sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs, obtenue par l'unité d'obtention de données de position (201) ;
    une unité d'estimation de position (204) configurée pour estimer une position de l'émetteur sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs et de la densité calculée par l'unité de calcul de densité (202), dans lequel l'unité d'estimation de position (204) estime la position de l'émetteur (14) sur la base de la pluralité des données de position fournie en sortie des dispositifs de positionnement (16) respectifs, lorsque la densité calculée par l'unité de calcul de densité (202) est supérieure à un premier seuil prédéterminé (th1) ; et
    une unité de calcul de fiabilité (203) configurée pour calculer un degré de fiabilité de chaque donnée de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs,
    dans lequel l'unité d'estimation de position (204) est configurée pour estimer la position de l'émetteur (14) sur la base de la pluralité de données de position fournie en sortie des dispositifs de positionnement (16) respectifs et du degré de fiabilité calculé par l'unité de calcul de fiabilité (203) lorsque la densité calculée par l'unité de calcul de densité (202) est inférieure au premier seuil prédéterminé (th1).
EP19777121.5A 2018-03-26 2019-02-26 Dispositif d'estimation de position, système d'estimation de position, procédé d'estimation de position et programme Active EP3779497B1 (fr)

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CN111801588A (zh) 2020-10-20
CN111801588B (zh) 2024-01-23
WO2019187905A1 (fr) 2019-10-03
US20200400775A1 (en) 2020-12-24
EP3779497A4 (fr) 2021-12-22
JPWO2019187905A1 (ja) 2020-10-01
EP3779497A1 (fr) 2021-02-17
US11073594B2 (en) 2021-07-27

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